\hypertarget{group__nxbot__motorTask}{
\section{MOTORSTASK Library}
\label{group__nxbot__motorTask}\index{MOTORSTASK Library@{MOTORSTASK Library}}
}


PWM library for applying different velocities to the motors in NXBOT.  


\subsection*{Defines}
\begin{DoxyCompactItemize}
\item 
\#define \hyperlink{group__nxbot__motorTask_gae38a8e86505c97de6e273c9f9aa6b1f3}{motorsTask\_\-stackSize}~(( unsigned portSHORT )400)
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
void \hyperlink{group__nxbot__motorTask_ga18850cedbe649396226ba5ce85b03c11}{executeMotorsTask} (\hyperlink{structglobals__t}{globals\_\-t} $\ast$pvParameter)
\end{DoxyCompactItemize}


\subsection{Detailed Description}
PWM library for applying different velocities to the motors in NXBOT. 
\begin{DoxyCode}
 #include <motorsTask.h> 
\end{DoxyCode}
 This module uses timer0 of the ATmega1281 microcontroller for generating the desired PWM signals. Timer0 is configured in {\itshape Free Running mode\/}, and it is constantly compared with two registers (OC0 and OC1), in order to toggle the logical state of two pins, where the PWM signals to the motors are connected. Another two signals are used in order to set the desired direction of the motor. For FORWARD direction use {\bfseries positive} values, for BACKWARD direction use {\bfseries negative} values. This library does not need to have the interrupts in order to function correctly, it is not an interrupt-\/driven module. 

\subsection{Define Documentation}
\hypertarget{group__nxbot__motorTask_gae38a8e86505c97de6e273c9f9aa6b1f3}{
\index{nxbot\_\-motorTask@{nxbot\_\-motorTask}!motorsTask\_\-stackSize@{motorsTask\_\-stackSize}}
\index{motorsTask\_\-stackSize@{motorsTask\_\-stackSize}!nxbot_motorTask@{nxbot\_\-motorTask}}
\subsubsection[{motorsTask\_\-stackSize}]{\setlength{\rightskip}{0pt plus 5cm}\#define motorsTask\_\-stackSize~(( unsigned portSHORT )400)}}
\label{group__nxbot__motorTask_gae38a8e86505c97de6e273c9f9aa6b1f3}


\subsection{Function Documentation}
\hypertarget{group__nxbot__motorTask_ga18850cedbe649396226ba5ce85b03c11}{
\index{nxbot\_\-motorTask@{nxbot\_\-motorTask}!executeMotorsTask@{executeMotorsTask}}
\index{executeMotorsTask@{executeMotorsTask}!nxbot_motorTask@{nxbot\_\-motorTask}}
\subsubsection[{executeMotorsTask}]{\setlength{\rightskip}{0pt plus 5cm}void executeMotorsTask (
\begin{DoxyParamCaption}
\item[{{\bf globals\_\-t} $\ast$}]{pvParameter}
\end{DoxyParamCaption}
)}}
\label{group__nxbot__motorTask_ga18850cedbe649396226ba5ce85b03c11}
